sIIIConvertParamNumber (FUN) ¶ FUNCTION sIIIConvertParamNumber : DINT InOut: Scope Name Type Comment Return sIIIConvertParamNumber DINT Input eSP SP S/P usiPS USINT (0..7) Parameter Set uiDBN UINT (0..16#FFF) DBN usiSE USINT Structure Element usiLength USINT (0..4) Length in Bytes xCommand BOOL Command
SMC_TranslateQueue3D.SMC_DoBeforeLeave (ACT) ¶
sIIIParamNumberToString (FUN) ¶ FUNCTION sIIIParamNumberToString : STRING InOut: Scope Name Type Return sIIIParamNumberToString STRING Input udi DWORD
SMC3_sIII_SpecificInputs (STRUCT) ¶ TYPE SMC3_sIII_SpecificInputs : STRUCT InOut: Name Type wStatusWord WORD diActPos1 DINT diActPos2 DINT
SMC_TranslateQueue3D.SMC_TranslateQueueInit (ACT) ¶
SMC3_sIII_SpecificOutputs (STRUCT) ¶ TYPE SMC3_sIII_SpecificOutputs : STRUCT InOut: Name Type wControlWord WORD
SMC3_sIII_Standard_ConfigurationPhase (FB) ¶ FUNCTION_BLOCK SMC3_sIII_Standard_ConfigurationPhase EXTENDS FB_Template_EdgeAbortTimeout InOut: Scope Name Type Comment Inherited from Input xExecute BOOL Rising edge: Starts action. Falling edge: Resets outputs. If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , eError ) are present at the outputs for exactly one cycle. FB_Template_Edge Output xDone BOOL TRUE : Action has been successfully completed. FB_Template_Edge xBusy BOOL TRUE : Function block in operation. FB_Template_Edge xError BOOL TRUE : Error has occurred. Function block aborts action. FALSE : No error FB_Template_Edge eError WORD Local library error ID FB_Template_Edge Input xAbort BOOL TRUE : The action is stopped immediately and all outputs are reset to their initial values. FB_Template_EdgeAbort udiTimeOut UDINT The time (µs) after which an FB (e.g. requiring an external acknowledgement) aborts operation due to a timeout with error message. FB_Template_EdgeAbortTimeout pAxis POINTER TO AXIS_REF_sIII_Standard auiOpModes ARRAY [0..3] OF UINT END_VAR VAR_OUTPUT wg. Zugriffsrechten awSendRealtimeBitID ARRAY [1..2] OF WORD awReceiveRealtimeBitID ARRAY [1..2] OF WORD w00076_PosScaling WORD ui00077_LinPosScalFac WORD si00078_LinPosScalExp SINT dw00079_RotPosResolution DWORD dw00103_ModuloValue DWORD dw00123_FeedConstant DWORD dw00278_MaxTravelRange DWORD w00044_VelScaling WORD ui00045_VelScalFac WORD si00046_VelScalExp SINT w00086_TorScaling WORD ui00093_TorScalFac WORD si00094_TorScalExp SINT ui00111_NomTorque UINT dw00273_MaxDriveOffTime DWORD usiProbes USINT aui00169 ARRAY [0..c_usiMaxProbes] OF UINT xOldProbeMechanism BOOL Methods: prv_Abort prv_CyclicAction prv_Start Structure: prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)
SMC_BlockSearch (FB) ¶ FUNCTION_BLOCK SMC_BlockSearch This function block shortens the path from start up to the position that is stored in SMC_BlockSearchPos . From this position, the original path is put on. SMC_BlockSearch runs in the context of path preprocessing and is typically inserted right before SMC_CheckVelocities . Note SMC_BlockSearch requires the position values from SMC_BlockSearchSavePos , which must have been executed before. Note The element to restart with is identified by its sourceline number. So, there will be ambiguities when dealing with subprograms (we will restart with the first element holding the correct sourceline number, which, in general, is part of the main program). InOut: Scope Name Type Comment Inout ePos SMC_BlockSearchPos Position information. Requires connection to output ePos of SMC_BlockSearchSavePos Input bExecute BOOL Risign edge: Enables the function block bAbort BOOL TRUE : Aborts the processing of the function block bAppend BOOL FALSE : Starts emptying poqDataOut on a rising edge at bExecute poqDataIn POINTER TO SMC_OUTQUEUE Pointer to data of structure SMC_OUTQUEUE containing the path objects of typ SMC_GEOINFO , that are interpolated. bStartFromSavedPos BOOL TRUE : Enables the function block to shorten the path from start up to the position, that is stored in SMC_BlockSearchPos . FALSE : Disables the function block nSizeOutQueue UDINT Size in bytes of the data buffer pbyBufferOutQueue , in which the path elements are copied. If the value is set, it may not be changed except after a reset. pbyBufferOutQueue POINTER TO ARRAY [0..0] OF SMC_GEOINFO Pointer to the first byte of the storage area created for the path elements. If the value is set, it may not be changed except after a reset. Output bDone BOOL TRUE : input date from poqDataIn have been precessed fully. After that, the function block performs no action until a reset is detected. When bExecute is set to FALSE , bDone is reset to FALSE . bBusy BOOL TRUE : Function block in execution bError BOOL TRUE : Error has occurred wErrorID SMC_ERROR Error identification Possible values SMC_BS_SAVEDPOS_NOT_REACHED : Stored position has not been found. Probably wrong path. SMC_BS_NO_POS_STORED : ePos contains no stored position. Possible cause is that SMC_BlockSearchSavePos was not executed or in a wrong way. poqDataOut POINTER TO SMC_OUTQUEUE Pointer to data of structure SMC_OUTQUEUE containing the path elements of type SMC_GEOINFO that have been processed Structure: SMC_DoBeforeLeave (Action) SMC_InitAction (Action)
SMC3_sIII_Standard_ConfigurationPhase.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL
AXIS_REF_sIII_Standard.InterpretScaling (METH) ¶ METHOD InterpretScaling : BOOL InOut: Scope Name Type Return InterpretScaling BOOL